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Answer

by removing the little cap on the top of the pencil and plugging it on the iPad lightning port or any lightning plug.
just be gentile with it as the pencil will pop-out from the plug and literally stand by itself.
consider it's very fast as 15 seconds of charge like this will give you 30 min of usage.
of i you find this way a little clumsy you can take the small adapter that came with the apple pencil and stick it to the pencil in order to be able to charge it with a iPad/iPhone charger.